Derelict, thank you for replying to my post!
The reason I want to have pfSense connect to the VPN server is that I want to be able to connect my mobile devices to my WiFi network and have access to the remote site through the VPN tunnel.
As a workaround, I can use a Mac to connect to the VPN and create a hotspot (I thins to be more reliable on a Mac than on Windows), but I consider this option as the last option.
Another solution is to buy another AccessPoint that offers Cisco IPSec with authentication, but my searches on the internet have not been very productive. If any of you know of an example, please let me know. (I have a Tomato AP, but that doesn't support IPSec out of the box)
Thanks,
Alex